IAI ELECYLINDER EC-S13 User manual

Specifications
Installation
Wiring
Operation
Preventive/
Predictive Maintenance
Parameters
Troubleshooting
Maintenance and
Inspection
External Dimensions
Life
Warranty
Appendix
ELECYLINDER
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Instruction Manual
S15/S15X
EC-S13/S13X
PSA-200
First Edition ME3801-1C

Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this product,
providing the information you need in order to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD enclosed with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary sections of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is handling the
product can refer to it quickly when necessary.
[Important]
• This instruction manual is an original document dedicated for this product.
• This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
• The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
• If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
• Use or reproduction of this instruction manual in full or in part without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

ELECYLINDER Instruction Manual Configuration
Product name Instruction manual name Control
number
ELECYLINDER Quick Start Guide ME3765
ELECYLINDER Instruction Manual
(this document) ME3801
PC Compatible Software for RC/EC RCM-101-MW/RCM-101-USB
Instruction Manual ME0155
Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355
Touch Panel Teaching Pendant TB-03 Instruction Manual
Wireless communication ME0375
Touch Panel Teaching Pendant
TB-03 Instruction Manual
Wired communication
For position controller
ME0376

Contents
Safety Guide ······························································································· Intro-1
Precautions for Handling ··············································································· Intro-9
International Standard Compliance ································································ Intro-11
Precautions for Handling Wireless Operation ··················································· Intro-12
Precautions for Axis Operation with Wireless Connection ··································· Intro-15
Part Names ······························································································ Intro-16
Chapter 1 Specifications
1.1 Checking the product ······························································ 1-1
Components ································································································ 1-1
How to read the model nameplate: ELECYLINDER ············································· 1-3
How to read the model nameplate: Motor drive DC power supply PSA-200 ·············· 1-4
How to read the model number ········································································ 1-5
Product list ·································································································· 1-6
1.2 Mechanical specifications ························································· 1-7
Slider type ··································································································· 1-7
Duty ratio ·································································································· 1-25
1.3 Options ·············································································· 1-27
RCON-EC connection specification (Model: ACR) ············································· 1-27
With brake (Model: B) ·················································································· 1-27
Indicated grease applied type (Model: G5) ······················································· 1-27
Home reverse specification (Model: NM) ························································· 1-27
PNP specification (Model: PN) ······································································· 1-27
Wireless communication specification (Model: WL) ············································ 1-27
Wireless axis operation specification (Model: WL2) ············································ 1-28
Two-circuit power supply specification (Model: TMD2) ········································ 1-28
1.4 Regenerative resistor unit (option) ············································ 1-29
Specifications of regenerative resistor unit ······················································· 1-29
1.5 Accessories ········································································ 1-30
Power I/O cable ·························································································· 1-30
Power I/O connector ···················································································· 1-31
Motor power supply cable ············································································· 1-32
Chapter 2 Installation
2.1 Precautions for transportation ··················································· 2-1
2.2 Installation and storage/preservation environment ························· 2-2
Installation environment ················································································· 2-2
Storage/preservation environment ···································································· 2-3
2.3 Installation of Slider type ·························································· 2-4
Installation surface ························································································ 2-4
Mounting orientation Type: S13/S13X/S15/S15X ················································· 2-5
Fixing bolt ··································································································· 2-7
Body mounting ····························································································· 2-8
Mounting transported objects ·········································································· 2-9

2.4 How to Install motor drive DC power supply PSA-200 ·················· 2-10
How to install, Orientation of installation ·························································· 2-10
Chapter 3 Wiring
3.1 System configuration ······························································· 3-1
3.2 Electrical specifications ···························································· 3-2
Specifications table ······················································································· 3-2
Max. units connectable to motor drive DC power supply PSA-200 ·························· 3-6
Current amperage and heat generation of motor drive DC power supply PSA-200 ····· 3-7
Selection of circuit breaker ·············································································· 3-8
Selection of leak current breaker ······································································ 3-8
I/O specifications of actuator main unit ······························································ 3-9
Status output connector for motor drive DC power supply PSA-200 ······················ 3-10
Number of connectable regenerative resistor units (Option) (Reference) ················ 3-11
Brake release method (for brake-equipped type) ··············································· 3-12
Grounding terminal Actuator main unit ·························································· 3-12
Grounding terminal motor drive DC power supply PSA-200 ································· 3-13
3.3 Connection arrangement diagram ············································ 3-14
Motor drive DC power supply PSA-200 ··························································· 3-14
Actuator main unit ······················································································· 3-16
Example for wiring actuator units and motor drive DC power supply PSA-200 ········· 3-19
3.4 Wiring connections (for connectors) ·········································· 3-22
Power supply connector ··············································································· 3-22
Connectivity between actuator units and motor drive DC power supply ·················· 3-23
Regenerative resistor unit (Option) ································································· 3-25
24 V DC power supply wiring ········································································ 3-27
PLC wiring ································································································· 3-29
Connector wiring method ·············································································· 3-30
Brake release wiring ···················································································· 3-32
3.5 Wiring connections (for cables)················································ 3-32
Power I/O cable ·························································································· 3-32
Power I/O cable connection ·········································································· 3-33
24 V DC power supply wiring ········································································ 3-34
PLC wiring ································································································· 3-36
Brake release wiring ···················································································· 3-37
Chapter 4 Operation
4.1 Basic operation ······································································ 4-1
Order to turn power on ··················································································· 4-2
Order to turn power off ··················································································· 4-2
4.2 Teaching tool connections and testing operation ··························· 4-3
Teaching pendant connection ·········································································· 4-3
ELECYLINDER test operation ········································································· 4-4
4.3 Stop position/operating conditions (AVD) setting/adjustment ············ 4-5
Stop position setting/adjustment (forward end / backward end) ······························ 4-6
Operating conditions (AVD) setting/adjustment ··················································· 4-7
4.4 I/O signals ·········································································· 4-10
I/O signal list ······························································································ 4-10
[ST0] [ST1] signals: Movement command input (backward/forward) ······················ 4-11

[RES] signal: Alarm clear input ······································································ 4-12
[BKRLS] input: Brake release input ································································· 4-12
[LS0] [LS1] signals: Position detection output (backward end / forward end) ··········· 4-13
[*ALM] signal: Alarm output ··········································································· 4-14
Signal input time constant ············································································· 4-14
4.5 Operating method from master device ······································ 4-15
Positioning operation: [ST0] [LS0] [ST1] [LS1] signals ········································ 4-15
Chapter 5 Preventive/Predictive Maintenance
5.1 Preventive/predictive maintenance ············································· 5-1
5.2 Maintenance information ·························································· 5-2
Total travel count ·························································································· 5-2
Total travel distance ······················································································ 5-2
Overload warning level ·················································································· 5-3
Capacitor assumed life exceeded warning ························································· 5-4
5.3 Setting maintenance information ················································ 5-5
Switching to maintenance information window ···················································· 5-5
Basic operation ···························································································· 5-6
Chapter 6 Parameters
6.1 Precautions regarding parameters ············································· 6-1
6.2 How to change parameters ······················································· 6-2
Edit parameters window ················································································· 6-2
Basic operation ···························································································· 6-3
6.3 Parameter list ········································································ 6-5
6.4 Parameter function descriptions ················································· 6-6
Parameter No.1: Operation range adjustment ····················································· 6-6
Parameter No.2: Auto switch "LS" signal detection range adjustment ······················ 6-7
Parameter No.3: Change home return direction ·················································· 6-8
Parameter No.4: Home position adjustment ······················································· 6-9
Parameter No.5: Smooth accel/decel setting ···················································· 6-10
Parameter No.7: Wireless function setting ······················································· 6-11
Chapter 7 Troubleshooting
7.1 Troubleshooting confirmations ··················································· 7-1
7.2 Troubleshooting diagnosis ························································ 7-6
7.3 Troubleshooting with no alarm generated ···································· 7-8
Operation failure ··························································································· 7-8
Abnormal or unstable operation ····································································· 7-10
7.4 Troubleshooting by alarm groups ············································· 7-13
Alarm group A: Overload alarm ······································································ 7-14
Alarm group B: Motor abnormality alarm ·························································· 7-15
Alarm group C: Controller abnormality alarm ···················································· 7-16
Alarm group D: Controller-encoder abnormality alarm ········································ 7-17
Alarm group E: Supply voltage / power capacity abnormality alarm ······················· 7-18
Alarm in motor drive DC power supply PSA-200 ··············································· 7-19
Warning: Maintenance warning 1 ··································································· 7-20
Warning: Maintenance warning 2 ··································································· 7-20
Warning: Maintenance warning 3 ··································································· 7-21

Warning: Maintenance warning 4 ··································································· 7-22
Warnings in motor drive DC power supply PSA-200 ··········································· 7-23
Chapter 8 Maintenance and Inspection
8.1 Precautions for maintenance and inspection work ························· 8-1
8.2 Inspection items and schedule ·················································· 8-3
Slider type (EC-S13/S13X/S15/S15X) ······························································· 8-3
Grease supply timing (Guideline) ····································································· 8-3
8.3 Visual inspection items ···························································· 8-4
External visual inspection ··············································································· 8-4
Internal visual inspection ················································································ 8-5
8.4 Cleaning ··············································································· 8-9
External cleaning ·························································································· 8-9
Internal cleaning ··························································································· 8-9
8.5 Greasing method ·································································· 8-10
8.6 How to replace components···················································· 8-18
Controller replacement (motor cover assembly replacement) ······························· 8-18
Wireless communication circuit board replacement
(End cover assembly replacement) ································································· 8-23
Motor unit replacement ················································································ 8-24
Replacement of intermediate support cushion ·················································· 8-33
Fan replacement of motor drive DC power supply PSA-200 ································· 8-42
Chapter 9 External Dimensions
9.1 Slider type external dimensions ················································· 9-1
EC-S13 ······································································································· 9-1
EC-S13X ····································································································· 9-2
EC-S15 ······································································································· 9-3
EC-S15X ····································································································· 9-4
Motor drive DC power supply PSA-200 ····························································· 9-5
Chapter 10 Life
10.1 Concept of life for slider type ··················································· 10-1
How to calculate operation life ······································································· 10-1
Relation between operation life and moment ···················································· 10-3
10.2 Concept of life for controller ···················································· 10-3
10.3 How to take concept of product life for
motor drive DC power supply PSA-200 ····································· 10-3
Chapter 11 Warranty
11.1 Warranty period ··································································· 11-1
11.2 Scope of the warranty ··························································· 11-1
11.3 Honoring the warranty ··························································· 11-1
11.4 Limited liability ····································································· 11-2
11.5 Conformance with applicable standards/regulations, etc.,
and application conditions ······················································ 11-2
11.6 Other items excluded from warranty ········································· 11-2

Chapter 12 Appendix
12.1 Index ··············································································· 12-1
12.2 Revision history ··································································· 12-5

Safety Guide
Intro-1
Safety Guide
The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property
damage. Be sure to read it before handling the product.

Safety Guide
Intro-2
Safety Precautions for Our Products
Common safety precautions for the use of robots in various operations are indicated here.
No. Operation Precautions
1 Model
Selection
● This product is not intended or designed for applications where high levels of
safety are required, and so cannot guarantee that human lives will be
protected. Accordingly, do not use it in any of the following applications.
(1) Medical equipment used to maintain, control or otherwise affect
human life or physical health
(2) Mechanisms or machinery designed for the purpose of moving or
transporting people (vehicles, railway facilities, aviation facilities etc.)
(3) Machinery components essential for safety (safety devices etc.)
● Do not use the product outside the range of the specifications. Otherwise, the
product life may be drastically shortened, and product damage or facilities
stoppage may occur.
● Do not use it in any of the following environments.
(1) Locations with flammable gases, ignitable objects or explosives
(2) Locations with potential exposure to radiation
(3) Locations with ambient temperature or relative humidity exceeding the
specifications range
(4) Locations where radiant heat is applied by direct sunlight or other
large heat source
(5) Locations where condensation occurs due to abrupt temperature
changes
(6) Locations with corrosive gases
(sulfuric acid, hydrochloric acid, etc.)
(7) Locations exposed to significant amounts of dust, salt or iron
powder
(8) Locations subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is equipped
with a brake. If a model without brake is selected, the moving parts may fall
when the power is turned OFF, causing accidents such as injury or workpiece
damage.

Safety Guide
Intro-3
No. Operation Precautions
2 Transportation ● When transporting heavy objects, do the work with two or more persons or
utilize equipment such as a crane.
● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
● During transportation, carefully consider the carrying positions,
weight, and weight balance, and be careful to avoid collisions or dropping.
● Use appropriate transportation measures for transport.
The actuators available for transportation with a crane have eyebolts attached
or tapped holes to attach bolts. Follow the instructions in the instruction manual
for each model.
● Do not climb onto the package.
● Do not put anything heavy that could deform the package on it.
● When using a crane with capacity of 1t or more, have an operator qualified for
crane operation and sling work.
● When using a crane or equivalent equipment, make sure not to suspend loads
exceeding the equipment's rated load.
● Use a hook that is suitable for the load. Consider the safety factor of the hook
in such factors as shear strength. Also, check to make sure that the hook is
free of damage.
● Do not climb on loads suspended from cranes.
● Do not leave loads suspended from cranes for long periods.
● Do not stand under loads suspended from cranes.
3 Storage
and
Preservation
● For the storage and preservation environment, see the installation
environment. However, give especial consideration to the prevention of
condensation.
● Store the products so as to prevent them from falling over or down in the
case of natural disasters such as earthquakes.

Safety Guide
Intro-4
No. Operation Precautions
4 Installation
and
Startup
(1) Installation of robot body and controller, etc.
● Be sure to securely hold and fix the product (including the workpiece). If the
product falls over, is dropped, or operates abnormally, it may lead to damage
and injury.
Also, be equipped for falls over or down due to natural disasters such as
earthquakes.
● Do not climb on or put anything on the product. Otherwise, this may lead to
accidental falling, injury or damage to the product due to falling objects,
product loss of function or performance degradation, or shortening of product
life.
● When using the product in any of the places specified below, provide
sufficient shielding.
(1) Locations where electrical noise is generated
(2) Locations with strong electrical or magnetic fields
(3) Locations with mains or power lines passing nearby
(4) Locations where the product may come in contact with water, oil or
chemical spray
(2) Cable wiring
● Use IAI genuine cables for connecting the actuator and controller, and for the
teaching tools.
● Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or
place heavy objects on them. Otherwise, this may lead to fire, electric shock,
or abnormal operation due to leakage or conduction malfunction.
● Perform the wiring for the product after turning OFF the power to the unit,
and avoid miswiring.
● When wiring DC power (+24V), be careful with the positive/negative polarity.
Incorrect connections may lead to fire, product breakdown or abnormal
operation.
● Connect the cable connector securely so that there is no disconnection or
looseness. Otherwise, this may lead to fire, electric shock, or abnormal
operation of the product.
● Never cut or reconnect the cables supplied with the product for the purpose
of extending or shortening the cable length. Otherwise, this may lead to fire
or abnormal operation of the product.
(3) Grounding
● Grounding must be performed, in order to prevent electric shocks or
electrostatic charge, enhance noise-resistant performance and control
unnecessary electromagnetic radiation.
● For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, be sure to use a twisted pair cable with
wire thickness 0.5mm2 (AWG20 or equivalent) or more for grounding work.
For safeguard grounding, it is necessary to select an appropriate wire
diameter for the load. Perform wiring that satisfies the specifications
(electrical equipment technical standards).
● Perform Class D grounding (former Class 3 grounding, with ground
resistance 100Ω or below).

Safety Guide
Intro-5
No. Operation Precautions
4 Installation
and
Startup
(4) Safety measures
● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
● When the product is operating or in the ready mode, take safety measures
(such as the installation of safety/protection fences) so that nobody can enter
the area within the robot's movable range. Contact with an operating robot
may lead to death or serious injury.
● Be sure to install an emergency stop circuit so that the unit can be stopped
immediately in an emergency during operation.
● Take safety measures such that turning the power ON alone will not start up
the unit. Otherwise, this may cause the product to start unexpectedly, leading
to injury or product damage.
● Take safety measures such that emergency stop cancel or recovery after
power failure alone will not start up the unit. Otherwise, this may lead to
injury or equipment damage.
● When installation or adjustment operation is to be performed, display signs
such as "Operating: No Power ON!" etc. Sudden power input may cause
electric shock or injury.
● Take measures to prevent workpieces, etc. from falling during power failures
or emergency stop.
● Wear protection gloves, goggles and safety shoes, as necessary, to secure
safety.
● Do not insert fingers or objects into the openings in the product. Otherwise,
this may lead to injury, electric shock, product damage, or fire.
● When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
5 Teaching ● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
● Perform teaching operation from outside the safety/protection fence, if
possible. If operation must be performed within the safety/protection fence,
prepare "Work Regulations" and make sure that all the workers acknowledge
and understand them well.
● When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that
the unit can be stopped at any time if abnormalities occur.
● When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
● Place a sign indicating "Operating" where it can be seen easily.
● When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.

Safety Guide
Intro-6
No. Operation Precautions
6 Trial Operation ● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
● After teaching or programming, carry out trial operation step by step before
switching to automatic operation.
● When trial operation is to be performed inside the safety/protection fence,
use the same work procedure, determined in advance, as teaching
operation.
● Be sure to confirm program operation at safe speeds. Otherwise, this may
lead to accidents due to unexpected motion caused by program error, etc.
● Do not touch the terminal block or any of the various setting switches while
the equipment is live. Otherwise, this may lead to electric shock or abnormal
operation.
7 Automatic
Operation
● Check before starting automatic operation or restarting after operation stop
that there is nobody within the safety/protection fence.
● Before starting automatic operation, make sure that all peripheral equipment
is ready for automatic operation and that there is no alarm indication.
● Be sure to start automatic operation from outside the safety/protection fence.
● If the product produces abnormal heat, smoke, odor, or noise, immediately
stop it and turn OFF the power switch. Otherwise, this may lead to fire or
damage to the product.
● When a power failure occurs, turn OFF the power switch. Otherwise, this
may lead to injury or product damage due to unexpected product motion
during recovery from the power failure.
8 Maintenance
and
Inspection
● When working with two or more persons, make it clear who is to be in charge
and communicate well with each other to ensure safety.
● Perform the work outside the safety/protection fence, if possible. If operation
must be performed within the safety/protection fence, prepare "Work
Regulations" and make sure that all the workers acknowledge and
understand them well.
● When work is to be performed inside the safety/protection fence, turn OFF
the power switch as a rule.
● When operation is to be performed inside the safety/protection fence,
operators should have emergency stop switches available at hand so that
the unit can be stopped at any time if abnormalities occur.
● When operation is to be performed inside the safety/protection fence, have a
monitor standing by in addition to the operator(s) so that the unit can be
stopped at any time if abnormalities occur. Also, keep watch on the operation
so that a third party cannot operate the switches carelessly.
● Place a sign indicating "Operating" where it can be seen easily.
● For the grease for the guide or ball screw, use appropriate grease according
to the Instruction Manual for each model.
● Do not perform dielectric strength testing. Otherwise, this may lead to
damage to the product.

Safety Guide
Intro-7
No. Operation Precautions
8 Maintenance
and
Inspection
● When releasing the brake on a vertically oriented actuator, be careful that it
does not fall under its own weight, catching the operator's hand or damaging
workpieces.
● The slider or rod may be misaligned from the stop position if the servo is
turned OFF. Avoid injury or damage due to unnecessary operation.
● Be careful not to lose the cover or any removed screws, and be sure to return
the product to the original condition after maintenance and inspection work.
Otherwise, this may lead to product damage or injury due to incomplete
mounting.
* Safety/protection fence: If there is no safety/protection fence, the movable
range should be indicated.
9 Modification
and
Disassembly
● Do not modify, disassemble/assemble, or use maintenance parts not
specified on your own discretion.
10 Disposal ● When the product exceeds its useful life or is no longer needed, dispose of it
properly as industrial waste.
● When removing the actuator for disposal, avoid dropping components when
detaching screws.
● Do not put the product in a fire when disposing of it. The product may rupture
or generate toxic gases.
11 Other ● If you are equipped with a medical device such as a pacemaker, do not
approach the product or its wiring, as the device may be affected.
● See the Overseas Specifications Compliance Manual to check compliance
with overseas standards if necessary.
● For the handling of actuators and controllers, follow the dedicated instruction
manual of each unit to ensure safety.

Safety Guide
Intro-8
Precaution Indications
The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" according
to the warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of risk to persons and property Symbol
Danger This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury. Danger
Warning This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury. Warning
Caution This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property damage. Caution
Notice
This indicates a situation in which, while injury is not a likely result, the
precautions should be observed in order to use the product
appropriately. Notice

Precautions for Handling
Intro-9
Precautions for Handling
1. The Safety Guide attached with the product is intended to permit safe use of
the product and thus to prevent risks and property damage. Be sure to read it
before handling the product.
2. Do not attempt any handling or operation that is not indicated in this instruction
manual.
3. Make sure to secure the ELECYLINDER properly in accordance with this
instruction manual.
If the ELECYLINDER is not securely fixed, this may lead to abnormal noise, vibration, breakdown or
shortened product life.
4. Make sure to observe the usage conditions and environment of the product.
Operation outside the warranty could cause decreased performance or product breakdown.
Use within the allowable range for each item.
Item Cautions
for use
Problems or breakdowns which may
occur if the allowable range is exceeded
Speed and
acceleration/deceleration
Use within the
allowable range
May lead to abnormal noise, vibration,
breakdown, or shortened product life.
Allowable load moment Use within the
allowable range
(Static/dynamic)
May lead to abnormal noise, vibration,
breakdown, or shortened product life. In
extreme cases, flaking may occur on the guide
or ball screw.
Overhang load length
Mounting a load with an overhang length
greater than the allowable values may lead to
vibration or abnormal noise.

Precautions for Handling
Intro-10
5. If return operations are continued over a short distance, they may rapidly
degrade the film of grease.
Continuous return operation within a distance less than 30 mm may cause the grease film to
degrade rapidly.
As a guideline, in every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation over
a 50 mm distance or more to regenerate the oil film. Continued use of the actuator in that state may
lead to breakdown.
In extreme cases, flaking may occur on the guide or ball screw.
6. Do not attempt to have sliders collide with an obstacle at high speed.
This may damage other mechanical parts.
7. The "Allow *** mm or more" indicated in the External Dimensions is intended
to enable wiring without excessive force applied to the cable.
Allow *** mm or more cable linearity.